robomaster-sdk/include/sdk.h

#pragma once

#include "message.h"

#include <stdbool.h>
#include <stdint.h>

static const uint8_t SDK_HOST = 9;
static const uint8_t SDK_INDEX = 0;

static const uint8_t SET_SDK_CONNECTION_CMDID = 0xD4;

enum CONNECTION {
    CONNECTION_WIFI_AP = 0,
    CONNECTION_WIFI_STA = 1,
    CONNECTION_USB_RNDIS = 2
};

void
set_sdk_connection(
		Client session,
		enum CONNECTION connection_type,
		uint32_t ip_address,
		uint16_t port );

static const uint8_t SDK_HEARTBEAT_CMDID = 0xD5;

void
sdk_heartbeat(
		Client session );

static const uint8_t SET_SDK_MODE_CMDID = 0xd1;

void
set_sdk_mode(Client session, bool enable);

static const uint8_t SET_SYSTEM_LED_CMDID = 0x33;

enum LEDCOMP {
    LEDCOMP_BOTTOM_BACK = 0x1,
    LEDCOMP_BOTTOM_FRONT = 0x2,
    LEDCOMP_BOTTOM_LEFT = 0x4,
    LEDCOMP_BOTTOM_RIGHT = 0x8,
    LEDCOMP_BOTTOM_ALL = 0xf,
    LEDCOMP_TOP_LEFT = 0x10,
    LEDCOMP_TOP_RIGHT = 0x20,
    LEDCOMP_TOP_ALL = 0x30,
    LEDCOMP_ALL = 0x3f
};

enum LEDEFFECT {
    LEDEFFECT_OFF = 0,
    LEDEFFECT_ON = 1,
    LEDEFFECT_BREATH = 2,
    LEDEFFECT_FLASH = 3,
    LEDEFFECT_SCROLLING = 4
};

void set_system_led (
		Client session,
		uint8_t red,
		uint8_t green,
		uint8_t blue,
		enum LEDCOMP comp,
		uint16_t led_mask,
		enum LEDEFFECT effect,
		uint16_t t1,
		uint16_t t2 );

static const uint8_t SET_ROBOT_MODE_CMDID = 0x46;

enum MOVEMENTMODE {
    MOVEMENTMODE_FREE,
    MOVEMENTMODE_GIMBAL_LEAD,
    MOVEMENTMODE_CHASSIS_LEAD
};

void
set_robot_mode (
		Client session,
		enum MOVEMENTMODE mode );

// cmdset 0x48
static const uint8_t SUBNODE_RESET_CMDID = 0x02;

void
subnode_reset (
		Client session );

// cmdset 0x48
static const uint8_t SUBSCRIBE_ADD_NODE_CMDID = 0x01;

void
subscribe_add_node (
		Client session );